In this paper we present a
humanoid robot, HRP-2P, which can walk, lie down and get up. We believe
that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot
that is the size of a human and can lie down and get up. Biped walking is
realized by a walking pattern generator using a preview control and a feedback
control. The lying down and getting up motions were made possible by HRP-2P’s
compact body with a waist joint and a novel motion controller.